MPU-6000, and MPU-6050 API for micro-python

This library is for using MPU-60X0 chip on micro-python

Quick-ref

Code 1 (Inherit):

from api6050.mpuapi import MPU6050_API as mpuAPI
...

class my_mpu_class(mpuAPI):
  def __init__(self, ...):
    mpuAPI.__init__(self)   # using default settings
    ...
    

Code 2 (Interpreter):

>> from api6050.mpuapi import MPU6050_API as mpuAPI
>> mpu = mpuAPI()    # using default settings
>> # mpu = mpuAPI(0x42, bus=False, mode=False)  # Access to port 2, mode is SLAVE, and
                                                # the slave device has 0x42 address
>> mpu.is_device_ready()
True
>> mpu.get_addr()
104

Class

Don't touch this values directly

Attributes	Description
_BUS	Selects the device bus, 1 (X9, X10), or 2 (Y9, Y10)
_MODE	Selects the device mode, MASTER, or SLAVE
_TIMEOUT	Timeout value to wait for the read, and write
_ERROR	Error code
_ADDR	The address variable to set, get the I2C Master device

Methods

Name	Return	Parameters
_init_	None	addr=reg.I2C_ADDRESS, bus=True, mode=True
_dev_init	None	mode, addr=0x12, baudrate=400000, gencall=False
_dev_rm	None	None
is_device_ready	Boolean	None
get_addr	int	None
set_addr	None	addr
get_timeout	int	None
set_timeout	None	timeout
_read	bytes	buf, memaddr, timeout=5000, addr_size=8
_write	None	buf, memaddr, timeout=5000, addr_size=8

API

####MPU6050_API(addr=reg.I2C_ADDRESS, bus=True, mode=True)
#####this is a constructor 'addr' is the address of I2C device, default is 0x68 = regMap.I2C_ADDRESS
'bus' is that can select the I2C bus, True is X9/X10, False is Y9/Y10
'mode' is that can select the I2C mode, True is MASTER, False is SLAVE

---

####_dev_init(mode, addr=0x12, baudrate=400000, gencall=False) #####Init I2C object manually
'mode' is that can select I2C device mode, MASTER, or SLAVE
'addr' is 7-bit address (only sensible for a slave)
'baudrate' is the scl clock rate (only sensible for a master)
'gencall' is whether to support general call mode

---

####_dev_rm()
#####De-init I2C object

---

####is_device_ready()
#####Check the connection between pyBoard and MPU60X0 chip
return is True, or False

---

####get_addr()
#####Get the address of the MPU60X0 chip
return is int (The address of the device)

---

####set_addr(addr)
#####Set the address of the MPU60X0 chip
#####* Be careful using this method
'addr' is the address to set

---

####get_timeout()
#####Get the timeout value
return is int (The timeout value)

---

####set_timeout(timeout)
#####Set the timeout value
'timeout' is the timeout value to set

---

####_read(buf, memaddr, timeout=5000, addr_size=8)
#####Read from the memory of a MPU60X0 chip
'buf' is size of bytes to read from memory address
'memaddr' is the memory address of the device
'timeout' is miliseconds to wait for the read 'addr_size' is that can select width of memory address size: 8 or 16 bits
return is bytes (The read data)

---

####_write(buf, memaddr, timeout=5000, addr_size=8)
#####Write to the memory of a MPU60X0 chip
'buf' is size of bytes to write to memory address
'memaddr' is the memory address of the device
'timeout' is miliseconds to wait for the write
'addr_size' is that can select width of memory address size: 8 or 16 bits